Your thinking like an AFC again.
An AFC waits for the perfect moment or place to kiss a girl.
An AFC asks permission either verbally or physically to kiss the girl.
An AFC waits for the close of the date, and an awkward pause to make his move.
A PUA kisses the girl when he wants to.
You escalate kino at where ever you are hanging out, and when she gives you some ioi's you are ready to kiss her.
There is something called "Building Sexual Tension" that is important to understand.
When you have built enough attraction, you will both be wanting to go for the kiss. If there was nothing preventing you, and you kissed, the attraction would abate somewhat. You can use the fact that you are with friends and such to your advantage. When you start giving each other looks and such, whisper in her ear, "I'd kiss you right now, but it is too bad that all these people are watching." Then give her a little wink. The attraction will spike through the roof. After you and all your friends have hung out for awhile, and your getting ready to go, tell your friends goodbye and walk her to the car. If you think you can, try to get her to transition to some place else with you (Isolation), or if not, you should already have the framework laid, just grab her arm and say something like, "Hey". When she turns to you, hold her gaze for a second. Then reach up and sweep the hair from her face (The universal sign that you are going for a kiss, so you don't startle her), then slowly lean in and kiss her). AFTER the kiss is when you mention how much fun you had, not before. If you lead with how you enjoyed hanging out with her, blah blah, it sounds like you are trying to butter her up so that she will LET you kiss her.